CN112378421A - Device and method for testing positioning accuracy of electromagnetic navigation system - Google Patents
Device and method for testing positioning accuracy of electromagnetic navigation system Download PDFInfo
- Publication number
- CN112378421A CN112378421A CN202011308338.5A CN202011308338A CN112378421A CN 112378421 A CN112378421 A CN 112378421A CN 202011308338 A CN202011308338 A CN 202011308338A CN 112378421 A CN112378421 A CN 112378421A
- Authority
- CN
- China
- Prior art keywords
- positioning
- navigation system
- electromagnetic navigation
- ball
- electromagnetic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 89
- 238000000034 method Methods 0.000 title claims abstract description 14
- 229910001220 stainless steel Inorganic materials 0.000 claims description 14
- 239000010935 stainless steel Substances 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 13
- 238000004804 winding Methods 0.000 claims description 7
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 11
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
Abstract
The invention provides a device and a method for testing the positioning precision of an electromagnetic navigation system, wherein the device comprises a precision testing device, a positioning device, an upper computer, a magnetic field generator, a control unit and an interface unit, wherein the upper computer, the magnetic field generator, the control unit and the interface unit form the electromagnetic navigation system; the positioning device is arranged at the tail end of a mechanical arm of an electromagnetic navigation robot controlled by an electromagnetic navigation system; the precision testing device and the positioning device are connected with the interface unit, the interface unit is connected with the control unit, the magnetic field generator is also connected with the control unit, and the control unit is connected with the upper computer. The device for testing the positioning accuracy of the electromagnetic navigation system is simple in structure, convenient to operate and easy to realize, and the positioning accuracy of the electromagnetic navigation system can be comprehensively and effectively detected through the device and the method.
Description
Technical Field
The invention relates to the technical field of electromagnetic navigation, in particular to a device and a method for testing the positioning accuracy of an electromagnetic navigation system.
Background
The electromagnetic navigation system can assist a doctor to complete an operation, and the positioning accuracy of the electromagnetic navigation system is an important index for ensuring the safe and smooth completion of the operation. In practice, a surgical path is determined, and the path can be described by a spatial straight line. The positioning accuracy requirement of the electromagnetic navigation system is not only the accuracy requirement of one point, but also the accuracy requirements of an in point and an out point are considered at the same time. The existing measuring system can only measure the precision of points of the electromagnetic navigation system in space and cannot measure the precision of a straight line from a point in to a point out, so that the positioning precision of the electromagnetic navigation system cannot be comprehensively and effectively detected.
Disclosure of Invention
In order to solve the problems in the prior art, the application provides a device and a method for testing the positioning accuracy of an electromagnetic navigation system, so that the positioning accuracy of the electromagnetic navigation system can be comprehensively and effectively detected.
In order to achieve the above object, one aspect of the present application provides a device for testing positioning accuracy of an electromagnetic navigation system, including an accuracy testing device, a positioning device, an upper computer, a magnetic field generator, a control unit, and an interface unit, where the upper computer, the magnetic field generator, the control unit, and the interface unit form the electromagnetic navigation system; the positioning device is arranged at the tail end of a mechanical arm of an electromagnetic navigation robot controlled by an electromagnetic navigation system; the precision testing device and the positioning device are both connected with the interface unit, the interface unit is connected with the control unit, the magnetic field generator is also connected with the control unit, and the control unit is connected with the upper computer; the precision testing device is used for being matched with an electromagnetic navigation system to enable the electromagnetic navigation system to track the position information of the precision testing device in real time, and is also used for providing a positioning structure for the positioning device; the positioning device is used for being matched with the electromagnetic navigation system for use, so that the electromagnetic navigation system can track the position information of the positioning device in real time, and the positioning device follows the electromagnetic navigation robot to execute a positioning instruction issued by the electromagnetic navigation system.
In some embodiments, the precision testing device comprises a main body, wherein at least three registration mark grooves are formed in the main body and used for placing stainless steel balls with the sizes matched with the registration mark grooves; the main body is also provided with at least three support columns with different heights, each support column is connected with a positioning ball, the diameters of the positioning balls are the same, and the positioning balls are the positioning structure; and a first position reading device is also arranged on the main body and is connected with the interface unit, and the first position reading device is used for being matched with an electromagnetic navigation system to read the position information of the precision testing device.
In some embodiments, the positioning ball has a diameter of 3mm to 4 mm.
In some embodiments, the first position reading device is installed in an installation groove formed in the main body, an installation column used in cooperation with the first position reading device is arranged in the installation groove, a plurality of limit bosses for preventing the first position reading device from moving are arranged around the installation groove, a threaded hole is formed in one of the limit bosses, and the first position reading device is fixed on the main body through cooperation of a compression knob and the threaded hole.
In some embodiments, the positioning device includes a device body, a positioning pin is mounted on the device body, a second position reading device is further mounted on the device body, the second position reading device is connected to the interface unit and is used in cooperation with an electromagnetic navigation system to read position information of the positioning device, and a mechanical arm connecting device is further disposed on the device body and connects the positioning device to a mechanical arm of the electromagnetic navigation robot through the mechanical arm connecting device.
In some embodiments, the first position reading device and the second position reading device are identical in structure and comprise a base and a base cover, the base and the base cover are connected together, two coil grooves which are not on the same horizontal plane are arranged in the base, an included angle between the two coil grooves is 10-80 degrees, an electromagnetic coil is arranged in each coil groove, a winding column is further arranged in the base, a coil wire led out from the electromagnetic coil is wound on the winding column and led out from a wire outlet hole formed in the base, the coil wire is connected with a plug, and the plug is used for being connected to an interface unit.
In some embodiments, the base is provided with base connecting holes for connecting medical devices, base cover connecting holes are provided at corresponding positions of the base cover, the base cover connecting holes are matched with the base connecting holes, and when the base and the base cover are connected together, the base connecting holes and the base cover connecting holes are in one-to-one correspondence and are used for connecting medical devices.
Another aspect of the present application provides a method for testing positioning accuracy of an electromagnetic navigation system, including the following steps:
step 1, placing a precision testing device and a positioning device in a magnetic field range of a magnetic field generator;
step 3, reconstructing a three-dimensional image of the CT data, randomly selecting positioning balls on two struts, taking the center of one positioning ball as an in-point of an operation, marking the positioning ball as a ball, taking the center of the other positioning ball as an out-point of the operation, marking the positioning ball as a ball b, and planning a path on the three-dimensional image so that a positioning needle can move to the ball a position along the planned path and then move to the ball b position;
step 4, registering and registering: the method comprises the following steps of registering a precision testing device and registering a positioning device, wherein the registering of the precision testing device comprises the following steps: selecting a registration mark groove provided with a stainless steel ball as a characteristic point, performing registration on the precision testing device in an image point selection mode, and after the registration is finished, transmitting the position information of the precision testing device to an upper computer through a first position reading device; registration of the positioning device: transmitting the relative poses of the second position reading device and a positioning needle at the tail end of the positioning device to an upper computer through a calibration algorithm;
step 5, moving a mechanical arm of the electromagnetic navigation robot according to a pre-planned path under the control of the upper computer, and expecting to enable a positioning needle to contact the ball a; when the positioning needle can contact the ball a, determining that the positioning precision of a point of entry of the electromagnetic navigation system is less than or equal to D/2, wherein D is the diameter of the positioning ball; when the positioning needle does not contact the ball a, determining that the positioning accuracy of the entry point of the electromagnetic navigation system is greater than D/2, which indicates that the positioning accuracy of the electromagnetic navigation system is unqualified;
step 6, when the positioning pin can contact the ball a, the ball a is detached, the mechanical arm of the electromagnetic navigation robot is controlled to move continuously according to a pre-planned path, and the positioning pin is expected to pass through the position of the ball a and can contact the ball b; when the positioning needle can contact the b ball, the point-out positioning accuracy of the electromagnetic navigation system is determined to be less than or equal to D/2, and the positioning accuracy of the electromagnetic navigation system is determined to be less than or equal to D/2; when the positioning needle does not contact the b ball, the point-out positioning accuracy of the electromagnetic navigation system is determined to be greater than D/2, which indicates that the positioning accuracy of the electromagnetic navigation system is unqualified;
step 7, the upper computer controls the mechanical arm to return to the original position to prepare for the next test;
step 8, repeating the step 3 and the steps 5-7 to carry out N times of tests, wherein N is more than or equal to 1, and in each test, replacing the two support columns in the step 3 to ensure that the heights of the two support columns in the current test are different from the heights of the two support columns in the last test, and planning a path on the three-dimensional image again according to the selected support columns; after all tests are finished, if the positioning accuracy of the electromagnetic navigation system is determined to be unqualified once, the positioning accuracy of the electromagnetic navigation system is determined to be unqualified; in each test, the positioning needle can contact two positioning balls along the planned path, and the positioning precision of the electromagnetic navigation system is qualified.
The beneficial effects of the scheme of this application lie in that above-mentioned device for testing electromagnetic navigation system positioning accuracy simple structure, convenient operation easily realizes, can comprehensive effectual detection electromagnetic navigation system's positioning accuracy through above-mentioned device and method.
Drawings
FIG. 1 is a schematic structural diagram of an apparatus for testing positioning accuracy of an electromagnetic navigation system in an embodiment.
Fig. 2 shows a schematic structural diagram of the precision testing device in the embodiment.
Fig. 3 shows a partial structural schematic diagram of the precision testing device in the embodiment.
Fig. 4 shows a partial structural schematic diagram of the precision testing device in the embodiment.
Fig. 5 shows a schematic configuration diagram of the position reading apparatus in the embodiment.
Fig. 6 shows a schematic structural diagram of a base in an embodiment, wherein (a) is a schematic structural diagram of one angle, and (b) is a schematic structural diagram of another angle.
Fig. 7 shows a schematic structural diagram of a base cover in an embodiment, in which (a) is a schematic structural diagram of one angle, and (b) is a schematic structural diagram of another angle.
Reference numerals: 100-precision testing device, 200-positioning device, 300-upper machine, 101-positioning ball, 102-support, 103-registration mark groove, 104-limit boss, 105-installation groove, 106-main body, 107-pressing knob, 108-first position reading device, 201-positioning pin, 202-mechanical arm connecting device, 301-magnetic field generator, 302-control unit, 303-interface unit, 1-base, 2-base cover, 3-coil wire, 4-plug, 11-identification groove, 12-first connecting hole, 13-second connecting hole, 14-winding column, 15-connecting groove, 16-outlet hole, 17-coil groove, 18-electromagnetic coil, 21-third connecting hole, 22-fourth connecting hole, 23-connecting projection.
Detailed Description
The following further describes embodiments of the present application with reference to the drawings.
As shown in fig. 1 to 4, the apparatus for testing the positioning accuracy of an electromagnetic navigation system according to the present application includes an accuracy testing apparatus 100, a positioning apparatus 200, an upper computer 300, a magnetic field generator 301, a control unit 302, and an interface unit 303, where the upper computer 300, the magnetic field generator 301, the control unit 302, and the interface unit 303 constitute the electromagnetic navigation system; the positioning device 200 is arranged at the tail end of a mechanical arm of an electromagnetic navigation robot controlled by an electromagnetic navigation system; the precision testing device 100 and the positioning device 200 are both connected with the interface unit 303, the interface unit 303 is connected with the control unit 302, the magnetic field generator 301 is also connected with the control unit 302, and the control unit 302 is connected with the upper computer 300.
Specifically, the precision testing device 100 is used in cooperation with an electromagnetic navigation system, so that the electromagnetic navigation system can track the position information of the precision testing device 100 in real time, and the precision testing device is further used for providing a positioning structure for the positioning device 200.
The positioning device 200 is used in cooperation with an electromagnetic navigation system, so that the electromagnetic navigation system can track the position information of the positioning device 200 in real time, the positioning device is mounted at the tail end of a mechanical arm of an electromagnetic navigation robot controlled by the electromagnetic navigation system, and the positioning device 200 executes a positioning instruction issued by the electromagnetic navigation system along with the electromagnetic navigation robot.
In this embodiment, the precision testing apparatus 100 includes a main body 106, at least three registration mark grooves 103 are provided on the main body 106, the registration mark grooves 103 are used for placing stainless steel balls with sizes matched with the registration mark grooves 103, the stainless steel balls are used for registration, so that imaging in a medical image is clearer, and the diameter of the stainless steel ball is 1.5 to 2.5 mm; the main body 106 is further provided with at least three support columns 102 with different heights, each support column 102 is connected with a positioning ball 101, the diameters of the positioning balls 101 are the same, the positioning balls 101 are the positioning structure, and the diameter D of each positioning ball 101 is 3-4 mm.
The main body 106 is further provided with a first position reading device 108, the first position reading device 108 is connected with the interface unit 303, the first position reading device 108 is used for being matched with an electromagnetic navigation system to read position information of the precision testing device 100, in this embodiment, the first position reading device 108 is installed in an installation groove 105 formed in the main body 106, an installation column matched with the first position reading device 108 is arranged in the installation groove 105, a plurality of limiting bosses 104 for preventing the first position reading device 108 from moving are arranged around the installation groove 105, a threaded hole is formed in one of the limiting bosses 104, and the first position reading device 108 is sufficiently fixed on the main body 106 through matching of a compression knob 107 and the threaded hole.
The positioning device 200 comprises a device body, a positioning needle 201 is installed on the device body, a second position reading device is further installed on the device body, the second position reading device is connected with the interface unit 303 and used for being matched with an electromagnetic navigation system to read position information of the positioning device 200, a mechanical arm connecting device 202 is further arranged on the device body, and the positioning device 200 is connected to a mechanical arm of the electromagnetic navigation robot through the mechanical arm connecting device 202.
The first position reading device 108 and the second position reading device have the same structure, as shown in fig. 5-7, including a base 1 and a base cover 2, the base 1 and the base cover 2 are connected together, in this embodiment, a connection groove 15 is provided on the base 1. a connection protrusion 23 is provided on the base cover 2, the connection protrusion 23 and the connection groove 15 are connected through medical adhesive, and the base 1 and the base cover 2 are connected together.
The base 1 is provided with two coil grooves 17 which are not on the same horizontal plane, an included angle between the two coil grooves 17 is 10-80 degrees, an electromagnetic coil 18 is installed in each coil groove 17, the electromagnetic coil 18 can be fixed by medical glue, the base 1 is further provided with a winding column 14, a coil wire 3 led out from the electromagnetic coil 18 is wound on the winding column 14 and led out from a wire outlet 16 arranged on the base 1, the coil wire 3 is connected with a plug 4, and the plug 4 is used for being connected to an interface unit 303.
The base 1 is provided with base connection holes for connecting medical devices, in this embodiment, the base 1 is provided with two base connection holes for connecting medical devices, which are respectively marked as a first connection hole 12 and a second connection hole 13, the corresponding position of the base cover 2 is provided with base cover connection holes used in cooperation with the base connection holes, in this embodiment, the base cover 2 is provided with a third connection hole 21 and a fourth connection hole 22, and when the base 1 and the base cover 2 are connected together, each base connection hole and each base cover connection hole are in one-to-one correspondence for connecting medical devices.
An identification slot 11 is further arranged on the outer surface of the base 1, the identification slot 11 is used for matching with the tip of a surgical instrument, and in the embodiment, the position area of the identification slot 11 corresponds to the area between the two coil slots 17. When the tip of the surgical instrument is pressed against the identification groove 11 in use, the position information of the tip of the surgical instrument is transmitted to the electromagnetic navigation system.
The method for testing the positioning accuracy of the electromagnetic navigation system comprises the following steps:
step 1, placing the precision testing device 100 and the positioning device 200 in the magnetic field range of the magnetic field generator 301.
And 2, mounting a stainless steel ball at the registration mark groove 103 in the precision testing device 100, and importing the scanned CT data of the precision testing device 100 mounted with the stainless steel ball into the upper computer 300.
And 3, reconstructing a three-dimensional image of the CT data, randomly selecting the positioning balls 101 on the two support columns 102, taking the center of one positioning ball 101 as an in-point of an operation, marking the positioning ball as an a-ball, taking the center of the other positioning ball 101 as an out-point of the operation, marking the positioning ball as a b-ball, and planning a path on the three-dimensional image, so that the positioning needle 201 can move to the a-ball position along the planned path first and then move to the b-ball position.
Step 4, registering and registering: including registration of the precision testing apparatus 100 and registration of the positioning apparatus 200, wherein the registration of the precision testing apparatus 100: selecting a registration mark groove 103 provided with a stainless steel ball as a characteristic point, performing registration on the precision testing device 100 in an image point selection mode, and after the registration is completed, transmitting the position information of the precision testing device 100 to the upper computer 300 through the first position reading device 108; registration of the positioning apparatus 200: the relative poses of the second position reading device and the positioning needle 201 at the end of the positioning device 200 are transmitted to the upper computer 300 through a calibration algorithm.
Step 5, under the control of the upper computer 300, the mechanical arm of the electromagnetic navigation robot moves according to a pre-planned path, and the positioning needle 201 is expected to contact the ball a; when the locating pin 201 can contact the ball a, determining that the locating precision of a point of entry of the electromagnetic navigation system is less than or equal to D/2, wherein D is the diameter of the locating ball; when the locating pin 201 does not contact the a-ball, the positioning accuracy of the entering point of the electromagnetic navigation system is determined to be greater than D/2, which indicates that the positioning accuracy of the electromagnetic navigation system is not qualified.
Step 6, when the positioning pin 201 can contact the ball a, detaching the ball a, controlling the mechanical arm of the electromagnetic navigation robot to move continuously according to a pre-planned path, expecting that the positioning pin 201 passes through the position of the ball a and can contact the ball b; when the positioning needle 201 can contact the b ball, the out-point positioning accuracy of the electromagnetic navigation system is determined to be less than or equal to D/2, and the positioning accuracy of the electromagnetic navigation system is determined to be less than or equal to D/2; when the locating pin 201 does not contact the b ball, the out-point locating accuracy of the electromagnetic navigation system is determined to be greater than D/2, which indicates that the locating accuracy of the electromagnetic navigation system is not qualified.
And 7, controlling the mechanical arm to return to the original position by the upper computer 300, and preparing for the next test.
Step 8, repeating the step 3 and the steps 5-7 to carry out N times of tests, wherein N is more than or equal to 1, and in each test, replacing the two support columns 102 in the step 3 to ensure that the heights of the two support columns 102 in the current test are different from the heights of the two support columns 102 in the last test, and planning a path on the three-dimensional image again according to the selected support columns; after all tests are finished, if the positioning accuracy of the electromagnetic navigation system is determined to be unqualified once, the positioning accuracy of the electromagnetic navigation system is determined to be unqualified; in each test, the positioning pin 201 can contact two positioning balls along the planned path, which indicates that the positioning accuracy of the electromagnetic navigation system is qualified.
The device for testing the positioning accuracy of the electromagnetic navigation system has the advantages of simple structure, convenience in operation and easiness in implementation, and the positioning accuracy of the electromagnetic navigation system can be comprehensively and effectively detected through the device and the method.
Claims (8)
1. An apparatus for testing positioning accuracy of an electromagnetic navigation system, comprising: the device comprises a precision testing device, a positioning device, an upper computer, a magnetic field generator, a control unit and an interface unit, wherein the upper computer, the magnetic field generator, the control unit and the interface unit form an electromagnetic navigation system; the positioning device is arranged at the tail end of a mechanical arm of an electromagnetic navigation robot controlled by an electromagnetic navigation system; the precision testing device and the positioning device are both connected with the interface unit, the interface unit is connected with the control unit, the magnetic field generator is also connected with the control unit, and the control unit is connected with the upper computer; the precision testing device is used for being matched with an electromagnetic navigation system to enable the electromagnetic navigation system to track the position information of the precision testing device in real time, and is also used for providing a positioning structure for the positioning device; the positioning device is used for being matched with the electromagnetic navigation system for use, so that the electromagnetic navigation system can track the position information of the positioning device in real time, and the positioning device follows the electromagnetic navigation robot to execute a positioning instruction issued by the electromagnetic navigation system.
2. The apparatus for testing positioning accuracy of an electromagnetic navigation system of claim 1, wherein: the precision testing device comprises a main body, wherein at least three registration mark grooves are formed in the main body and used for placing stainless steel balls with the sizes matched with the registration mark grooves; the main body is also provided with at least three support columns with different heights, each support column is connected with a positioning ball, the diameters of the positioning balls are the same, and the positioning balls are the positioning structure; and a first position reading device is also arranged on the main body and is connected with the interface unit, and the first position reading device is used for being matched with an electromagnetic navigation system to read the position information of the precision testing device.
3. The apparatus for testing positioning accuracy of an electromagnetic navigation system of claim 2, wherein: the diameter of the positioning ball is 3 mm-4 mm.
4. The apparatus for testing positioning accuracy of an electromagnetic navigation system of claim 2, wherein: the first position reading device is installed in an installation groove formed in the main body, an installation column matched with the first position reading device is arranged in the installation groove, a plurality of limiting bosses for preventing the first position reading device from moving are arranged around the installation groove, a threaded hole is formed in one of the limiting bosses, and the first position reading device is fixed on the main body through the matching of a compression knob and the threaded hole.
5. The apparatus for testing positioning accuracy of an electromagnetic navigation system of claim 2, wherein: the positioning device comprises a device body, a positioning needle is installed on the device body, a second position reading device is further installed on the device body, the second position reading device is connected with the interface unit and used for being matched with an electromagnetic navigation system to read position information of the positioning device, and a mechanical arm connecting device is further arranged on the device body and is used for connecting the positioning device to a mechanical arm of the electromagnetic navigation robot.
6. The apparatus for testing positioning accuracy of an electromagnetic navigation system of claim 5, wherein: the structure of the first position reading device is the same as that of the second position reading device, the first position reading device comprises a base and a base cover, the base is connected with the base cover, two coil grooves which are not on the same horizontal plane are arranged in the base, an included angle between the two coil grooves is 10-80 degrees, an electromagnetic coil is arranged in each coil groove, a winding column is further arranged in the base, a coil wire led out from the electromagnetic coil is wound on the winding column and led out from a wire outlet hole in the base, the coil wire is connected with a plug, and the plug is used for being connected to an interface unit.
7. The apparatus for testing positioning accuracy of an electromagnetic navigation system of claim 6, wherein: the base is provided with base connecting holes for connecting medical instruments, base cover connecting holes matched with the base connecting holes are formed in the corresponding positions of the base cover, and when the base and the base cover are connected together, the base connecting holes and the base cover connecting holes are in one-to-one correspondence and used for connecting the medical instruments.
8. A method for testing the positioning accuracy of an electromagnetic navigation system based on the apparatus for testing the positioning accuracy of an electromagnetic navigation system of claim 5, characterized in that: the method comprises the following steps:
step 1, placing a precision testing device and a positioning device in a magnetic field range of a magnetic field generator;
step 2, installing a stainless steel ball at a registration mark groove in the precision testing device, and importing scanned CT data of the precision testing device provided with the stainless steel ball into an upper computer;
step 3, reconstructing a three-dimensional image of the CT data, randomly selecting positioning balls on two struts, taking the center of one positioning ball as an in-point of an operation, marking the positioning ball as a ball, taking the center of the other positioning ball as an out-point of the operation, marking the positioning ball as a ball b, and planning a path on the three-dimensional image so that a positioning needle can move to the ball a position along the planned path and then move to the ball b position;
step 4, registering and registering: the method comprises the following steps of registering a precision testing device and registering a positioning device, wherein the registering of the precision testing device comprises the following steps: selecting a registration mark groove provided with a stainless steel ball as a characteristic point, performing registration on the precision testing device in an image point selection mode, and after the registration is finished, transmitting the position information of the precision testing device to an upper computer through a first position reading device; registration of the positioning device: transmitting the relative poses of the second position reading device and a positioning needle at the tail end of the positioning device to an upper computer through a calibration algorithm;
step 5, moving a mechanical arm of the electromagnetic navigation robot according to a pre-planned path under the control of the upper computer, and expecting to enable a positioning needle to contact the ball a; when the positioning needle can contact the ball a, determining that the positioning precision of a point of entry of the electromagnetic navigation system is less than or equal to D/2, wherein D is the diameter of the positioning ball; when the positioning needle does not contact the ball a, determining that the positioning accuracy of the entry point of the electromagnetic navigation system is greater than D/2, which indicates that the positioning accuracy of the electromagnetic navigation system is unqualified;
step 6, when the positioning pin can contact the ball a, the ball a is detached, the mechanical arm of the electromagnetic navigation robot is controlled to move continuously according to a pre-planned path, and the positioning pin is expected to pass through the position of the ball a and can contact the ball b; when the positioning needle can contact the b ball, the point-out positioning accuracy of the electromagnetic navigation system is determined to be less than or equal to D/2, and the positioning accuracy of the electromagnetic navigation system is determined to be less than or equal to D/2; when the positioning needle does not contact the b ball, the point-out positioning accuracy of the electromagnetic navigation system is determined to be greater than D/2, which indicates that the positioning accuracy of the electromagnetic navigation system is unqualified;
step 7, the upper computer controls the mechanical arm to return to the original position to prepare for the next test;
step 8, repeating the step 3 and the steps 5-7 to carry out N times of tests, wherein N is more than or equal to 1, and in each test, replacing the two support columns in the step 3 to ensure that the heights of the two support columns in the current test are different from the heights of the two support columns in the last test, and planning a path on the three-dimensional image again according to the selected support columns; after all tests are finished, if the positioning accuracy of the electromagnetic navigation system is determined to be unqualified once, the positioning accuracy of the electromagnetic navigation system is determined to be unqualified; in each test, the positioning needle can contact two positioning balls along the planned path, and the positioning precision of the electromagnetic navigation system is qualified.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011308338.5A CN112378421B (en) | 2020-11-20 | 2020-11-20 | Device and method for testing positioning accuracy of electromagnetic navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011308338.5A CN112378421B (en) | 2020-11-20 | 2020-11-20 | Device and method for testing positioning accuracy of electromagnetic navigation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112378421A true CN112378421A (en) | 2021-02-19 |
| CN112378421B CN112378421B (en) | 2022-07-08 |
Family
ID=74584426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011308338.5A Active CN112378421B (en) | 2020-11-20 | 2020-11-20 | Device and method for testing positioning accuracy of electromagnetic navigation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112378421B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102772244A (en) * | 2012-08-13 | 2012-11-14 | 南京航空航天大学 | Intraoperative navigation system used for implanting pedicle screw |
| US20140187915A1 (en) * | 2012-12-27 | 2014-07-03 | General Electric Company | Method and system for position orientation correction in navigation |
| EP3128939A1 (en) * | 2014-03-24 | 2017-02-15 | Scopis GmbH | Electromagnetic navigation system for microscopic surgery |
| CN107133637A (en) * | 2017-03-31 | 2017-09-05 | 精劢医疗科技南通有限公司 | A kind of surgical navigational image registers equipment and method automatically |
| WO2018094849A1 (en) * | 2016-11-23 | 2018-05-31 | 常州朗合医疗器械有限公司 | Medical path navigation method and system |
| CN109490830A (en) * | 2018-11-23 | 2019-03-19 | 北京天智航医疗科技股份有限公司 | Operating robot Locating System Accuracy detection method and detection device |
| CN110101452A (en) * | 2019-05-10 | 2019-08-09 | 山东威高医疗科技有限公司 | A kind of optomagnetic integrated positioning navigation method for surgical operation |
| CN110215285A (en) * | 2019-07-16 | 2019-09-10 | 华志微创医疗科技（北京）有限公司 | The method for correcting error and system of surgical navigational |
| US20190274762A1 (en) * | 2016-10-28 | 2019-09-12 | Kyungpook National University Industry-Academic Cooperation Foundation | Surgical Navigation System |
| CN110547871A (en) * | 2019-09-23 | 2019-12-10 | 重庆博仕康科技有限公司 | Photo-magnetic integrated surgical navigation reference frame and marking device |
-
2020
- 2020-11-20 CN CN202011308338.5A patent/CN112378421B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102772244A (en) * | 2012-08-13 | 2012-11-14 | 南京航空航天大学 | Intraoperative navigation system used for implanting pedicle screw |
| US20140187915A1 (en) * | 2012-12-27 | 2014-07-03 | General Electric Company | Method and system for position orientation correction in navigation |
| EP3128939A1 (en) * | 2014-03-24 | 2017-02-15 | Scopis GmbH | Electromagnetic navigation system for microscopic surgery |
| US20190274762A1 (en) * | 2016-10-28 | 2019-09-12 | Kyungpook National University Industry-Academic Cooperation Foundation | Surgical Navigation System |
| WO2018094849A1 (en) * | 2016-11-23 | 2018-05-31 | 常州朗合医疗器械有限公司 | Medical path navigation method and system |
| CN107133637A (en) * | 2017-03-31 | 2017-09-05 | 精劢医疗科技南通有限公司 | A kind of surgical navigational image registers equipment and method automatically |
| CN109490830A (en) * | 2018-11-23 | 2019-03-19 | 北京天智航医疗科技股份有限公司 | Operating robot Locating System Accuracy detection method and detection device |
| CN110101452A (en) * | 2019-05-10 | 2019-08-09 | 山东威高医疗科技有限公司 | A kind of optomagnetic integrated positioning navigation method for surgical operation |
| CN110215285A (en) * | 2019-07-16 | 2019-09-10 | 华志微创医疗科技（北京）有限公司 | The method for correcting error and system of surgical navigational |
| CN110547871A (en) * | 2019-09-23 | 2019-12-10 | 重庆博仕康科技有限公司 | Photo-magnetic integrated surgical navigation reference frame and marking device |
Non-Patent Citations (2)
| Title |
|---|
| 贾国庆等: "前交叉韧带重建中电磁导航系统辅助骨隧道定位的准确性", 《中国组织工程研究》 * |
| 高慧等: "电磁手术导航系统的导航精度问题研究", 《北京生物医学工程》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112378421B (en) | 2022-07-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109171962B (en) | Surgical instrument calibration system and calibration method for navigation surgery | |
| CN109490830A (en) | Operating robot Locating System Accuracy detection method and detection device | |
| CN101868191B (en) | Method for determining a position for and positioning a detection device of a navigation system | |
| US20070265715A1 (en) | Method for Permanent Calibration Based on Actual Measurement | |
| CN105278673A (en) | Method for supporting an operator in measuring a part of an object | |
| US9638820B2 (en) | Calibration jig for a flat location pad | |
| CN110897732A (en) | Calibration device and surgical instrument calibration method | |
| CN103308014A (en) | An apparatus for pointing spatial coordinates, comprising a movable hand-held probe and a portable base unit, and a related method | |
| US20140314297A1 (en) | Registering method, position detecting system, and scanning instrument | |
| CN111183333A (en) | Coordinate measuring machine probe identification apparatus and method | |
| CN112729345A (en) | Method and device for detecting precision of optical positioner | |
| CN114813061B (en) | Optical parameter detection method and system of near-eye imaging equipment | |
| CN112378421B (en) | Device and method for testing positioning accuracy of electromagnetic navigation system | |
| CN111265299B (en) | Operation navigation system based on optical fiber shape sensing | |
| US4370889A (en) | Test device for the detection and analysis of material faults | |
| CN217162286U (en) | Measuring tool for positioning precision of tail end of optical navigation robot based on medical image | |
| WO2014053934A1 (en) | System and method for registering shape sensing with imaging using an optimal plane | |
| CN112212894B (en) | Device and method for testing repeated positioning accuracy of electromagnetic navigation system | |
| CN106361339A (en) | Medical imaging apparatus with a positioning unit, and a method for determining a postion on a positioning surface thereof | |
| CN112998852A (en) | Method, device, terminal and storage medium for verifying precision | |
| Rebernik et al. | Accuracy assessment of two electromagnetic articulographs: Northern digital inc. wave and northern digital inc. vox | |
| CN103279772A (en) | RFID evaluation system, target position indicating apparatus, and target position indicating program | |
| CN213606864U (en) | Precision measuring device for surgical robot navigation system | |
| CN113932762A (en) | Cable deformation measuring method and device and computer storage medium | |
| CN109443540B (en) | Plane positioning device suitable for accurate temperature measurement of infrared thermometer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |